Glider dive log

PortSusan 11Dec07 * SG142 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 142 HD_B 0.0099999998 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0

MISSION 1 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 8 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 4 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 220 ALTIM_PING_DEPTH 80

D_TGT 150 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3900 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 1880 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1911 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 650 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT -1.65

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 22 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 53

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 475 DEVICE4 35

T_TURN 225 CALL_WAIT 60 VBD_MAX 3964 DEVICE5 39

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3462 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -2448.6528 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 489 AH0_24V 91.800003 SEABIRD_T_G 0.0043513491

SPEED_FACTOR 1 PITCH_MAX 3769 AH0_10V 61.200001 SEABIRD_T_H 0.00063632627

RHO 1.023 C_PITCH 2830 PRESSURE_YINT -1.3166192 SEABIRD_T_I 2.5804644e-05

MASS 51743 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.0153007e-05 SEABIRD_T_J 2.896036e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -9.8351879

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1181455

KALMAN_USE 2 PITCH_GAIN 14.5 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00074309122

HD_A 0.003 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00015430861

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 14.5 SM_CC 650

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3769 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 489 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.0153007e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -1.3166192 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 50

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -2448.6528

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 142 ROLL_MAX 3900 T_TURN_SAMPINT 5

C_PITCH 2830 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1911 INT_PRESSURE_YINT -1.65 ROLL_MIN 220 UNCOM_BLEED 20

C_ROLL_DIVE 1880 KALMAN_USE 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3462 MASS 51743 R_PORT_OVSHOOT 22 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 32 USE_ICE 0

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -9.8351879 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1181455 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00074309122 VBD_DBAND 2

DEVICE3 53 N_FILEKB 4 SEABIRD_C_J 0.00015430861 VBD_MAX 3964

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043513491 VBD_MAXERRORS 1

DEVICE5 39 N_NOCOMM 1 SEABIRD_T_H 0.00063632627 VBD_MIN 475

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5804644e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 8 PHONE_DEVICE 48 SEABIRD_T_J 2.896036e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 032750,4806.766,-12222.426,6,1.1,11,18.3 TGT_NAME SIX

_CALLS 2 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 033833,4806.915,-12222.540,12,1.4,12,18.3 MHEAD_RNG_PITCHd_Wd 140.2,1821,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 150

Post-dive calculations and measurements:

FINISH 2.2,1.018066 XPDR_PINGS 76

SM_CCo 2544,364.85,0.890,1,0,812,650.04 ALTIM_BOTTOM_PING 100.3,21.9

SM_GC 1.02,0.00,0.00,364.85,0.000,0.000,0.890,485,1908,812,-10.79,0.79,650.04 _24V_AH 23.6,2.406

IRIDIUM_FIX 4748.51,-12227.28,121207,070731 _10V_AH 10.2,0.773

TT8_MAMPS 0.026845 DATA_FILE_SIZE 31802,444

HUMID 1665 CFSIZE 260165632,258666496

INTERNAL_PRESSURE 7.95974 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,1,0

TCM_TEMP 16.20 GPS 121207,042829,4806.683,-12222.362,8,3.3,27,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 143 86.99 SBE_CT 299 24 169.83

Roll_motor 39 72 66.36 SBE_O2 212 19 95.35

VBD_pump_during_apogee 255 1000 6033.08 Optode 0 33 0.00

VBD_pump_during_surface 364 889 7660.90 WL_BB2F 497 105 1231.99

VBD_valve 0 0 0.00 WL_BB2F 511 105 1266.32

Iridium_during_init 79 103 192.29 nil 0 0 0.00

Iridium_during_connect 169 160 639.90 nil 0 0 0.00

Iridium_during_xfer 247 223 1304.94

Transponder_ping 20 420 200.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.31

TT8 644 19 130.20

LPSleep 817 2 18.26

TT8_Active 725 19 146.47

TT8_Sampling 811 39 329.28

TT8_CF8 572 45 267.29

TT8_Kalman 0 0 0.00

Analog_circuits 1172 12 143.51

GPS_charging 0 0 0.00

Compass 808 8 66.00

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.27 -195.5 0.0 0.0 0 141 0.00 0.00 -121.30 0.000 2 0.000 0.000 484 1908 3381

143 -1.27 -195.5 3.0 -1.7 22 179 11.38 0.00 -21.67 0.000 6 0.143 0.000 2547 1908 3965

246 -1.27 -195.5 8.4 -6.0 40 252 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 1908 3966

320 -1.27 -195.5 13.9 -8.7 53 326 0.00 2.55 0.00 0.000 4 0.000 0.070 2548 474 3966

371 -1.27 -195.5 18.6 -9.4 62 378 0.00 2.38 0.00 0.000 6 0.000 0.046 2548 1882 3966

445 -1.27 -195.5 25.6 -10.1 75 451 0.00 2.53 0.00 0.000 4 0.000 0.072 2547 472 3966

507 -1.27 -195.5 32.4 -11.2 86 514 0.00 2.38 0.00 0.000 6 0.000 0.044 2547 1887 3966

649 -1.27 -195.5 46.4 -9.9 111 655 0.00 2.50 0.00 0.000 4 0.000 0.069 2547 477 3966

800 -1.27 -195.5 62.0 -10.2 138 807 0.00 2.35 0.00 0.000 6 0.000 0.044 2547 1877 3966

943 -1.27 -195.5 74.8 -8.6 163 949 0.00 2.50 0.00 0.000 4 0.000 0.071 2547 467 3966

1089 -1.27 -195.5 89.6 -10.0 189 1098 0.00 2.38 0.00 0.000 6 0.000 0.041 2548 1896 3966

1235 -1.27 -195.5 102.9 -9.1 214 1241 0.00 2.50 0.00 0.000 4 0.000 0.067 2547 475 3966

1330 end dive: BOTTOM_OBSTACLE_DETECTED

state 1330 begin apogee

1336 -0.34 0.0 112.6 10.5 231 1444 0.98 0.00 100.45 1.001 6 0.082 0.000 2750 1912 3461

1444 end apogee: CONTROL_FINISHED_OK

state 1445 begin climb

1446 1.27 195.5 116.0 0.0 251 1613 1.62 2.50 154.95 0.974 4 0.059 0.059 3108 3304 2664

1652 1.27 195.5 99.9 12.3 289 1658 0.00 2.40 0.00 0.000 6 0.000 0.051 3108 1903 2664

1792 1.27 195.5 82.8 11.8 314 1798 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 1902 2664

1933 1.27 195.5 66.1 11.7 339 1939 0.00 2.45 0.00 0.000 4 0.000 0.057 3108 3315 2664

1979 1.27 195.5 60.6 12.6 347 1985 0.00 2.40 0.00 0.000 6 0.000 0.051 3108 1905 2664

2119 1.27 195.5 44.3 11.4 372 2125 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 1905 2664

2260 1.27 195.5 28.5 10.9 397 2266 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 1905 2664

2333 1.27 195.5 20.6 10.4 410 2339 0.00 2.42 0.00 0.000 4 0.000 0.063 3108 3309 2664

2356 1.27 195.5 18.0 11.4 414 2362 0.00 2.38 0.00 0.000 6 0.000 0.050 3108 1911 2664

2430 1.27 195.5 9.7 10.8 427 2436 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 1911 2665

2485 end climb: SURFACE_DEPTH_REACHED

state 2485 begin surface coast

2526 end surface coast: CONTROL_FINISHED_OK

state 2526 begin surface

ID	142	HD_B	0.0099999998	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	1	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	8	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	4	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	220	ALTIM_PING_DEPTH	80
D_TGT	150	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3900	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	1880	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1911	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	650	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	-1.65
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	22	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	53
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	475	DEVICE4	35
T_TURN	225	CALL_WAIT	60	VBD_MAX	3964	DEVICE5	39
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3462	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-2448.6528	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	489	AH0_24V	91.800003	SEABIRD_T_G	0.0043513491
SPEED_FACTOR	1	PITCH_MAX	3769	AH0_10V	61.200001	SEABIRD_T_H	0.00063632627
RHO	1.023	C_PITCH	2830	PRESSURE_YINT	-1.3166192	SEABIRD_T_I	2.5804644e-05
MASS	51743	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.0153007e-05	SEABIRD_T_J	2.896036e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-9.8351879
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1181455
KALMAN_USE	2	PITCH_GAIN	14.5	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00074309122
HD_A	0.003	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00015430861

GPS1	032750,4806.766,-12222.426,6,1.1,11,18.3	TGT_NAME	SIX
_CALLS	2	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	033833,4806.915,-12222.540,12,1.4,12,18.3	MHEAD_RNG_PITCHd_Wd	140.2,1821,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	150

FINISH	2.2,1.018066	XPDR_PINGS	76
SM_CCo	2544,364.85,0.890,1,0,812,650.04	ALTIM_BOTTOM_PING	100.3,21.9
SM_GC	1.02,0.00,0.00,364.85,0.000,0.000,0.890,485,1908,812,-10.79,0.79,650.04	_24V_AH	23.6,2.406
IRIDIUM_FIX	4748.51,-12227.28,121207,070731	_10V_AH	10.2,0.773
TT8_MAMPS	0.026845	DATA_FILE_SIZE	31802,444
HUMID	1665	CFSIZE	260165632,258666496
INTERNAL_PRESSURE	7.95974	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
TCM_TEMP	16.20	GPS	121207,042829,4806.683,-12222.362,8,3.3,27,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	143	86.99	SBE_CT	299	24	169.83
Roll_motor	39	72	66.36	SBE_O2	212	19	95.35
VBD_pump_during_apogee	255	1000	6033.08	Optode	0	33	0.00
VBD_pump_during_surface	364	889	7660.90	WL_BB2F	497	105	1231.99
VBD_valve	0	0	0.00	WL_BB2F	511	105	1266.32
Iridium_during_init	79	103	192.29	nil	0	0	0.00
Iridium_during_connect	169	160	639.90	nil	0	0	0.00
Iridium_during_xfer	247	223	1304.94
Transponder_ping	20	420	200.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.31
TT8	644	19	130.20
LPSleep	817	2	18.26
TT8_Active	725	19	146.47
TT8_Sampling	811	39	329.28
TT8_CF8	572	45	267.29
TT8_Kalman	0	0	0.00
Analog_circuits	1172	12	143.51
GPS_charging	0	0	0.00
Compass	808	8	66.00
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.27	-195.5	0.0	0.0	0	141	0.00	0.00	-121.30	0.000	2	0.000	0.000	484	1908	3381
143	-1.27	-195.5	3.0	-1.7	22	179	11.38	0.00	-21.67	0.000	6	0.143	0.000	2547	1908	3965
246	-1.27	-195.5	8.4	-6.0	40	252	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	1908	3966
320	-1.27	-195.5	13.9	-8.7	53	326	0.00	2.55	0.00	0.000	4	0.000	0.070	2548	474	3966
371	-1.27	-195.5	18.6	-9.4	62	378	0.00	2.38	0.00	0.000	6	0.000	0.046	2548	1882	3966
445	-1.27	-195.5	25.6	-10.1	75	451	0.00	2.53	0.00	0.000	4	0.000	0.072	2547	472	3966
507	-1.27	-195.5	32.4	-11.2	86	514	0.00	2.38	0.00	0.000	6	0.000	0.044	2547	1887	3966
649	-1.27	-195.5	46.4	-9.9	111	655	0.00	2.50	0.00	0.000	4	0.000	0.069	2547	477	3966
800	-1.27	-195.5	62.0	-10.2	138	807	0.00	2.35	0.00	0.000	6	0.000	0.044	2547	1877	3966
943	-1.27	-195.5	74.8	-8.6	163	949	0.00	2.50	0.00	0.000	4	0.000	0.071	2547	467	3966
1089	-1.27	-195.5	89.6	-10.0	189	1098	0.00	2.38	0.00	0.000	6	0.000	0.041	2548	1896	3966
1235	-1.27	-195.5	102.9	-9.1	214	1241	0.00	2.50	0.00	0.000	4	0.000	0.067	2547	475	3966
1330	end dive: BOTTOM_OBSTACLE_DETECTED
state	1330	begin apogee
1336	-0.34	0.0	112.6	10.5	231	1444	0.98	0.00	100.45	1.001	6	0.082	0.000	2750	1912	3461
1444	end apogee: CONTROL_FINISHED_OK
state	1445	begin climb
1446	1.27	195.5	116.0	0.0	251	1613	1.62	2.50	154.95	0.974	4	0.059	0.059	3108	3304	2664
1652	1.27	195.5	99.9	12.3	289	1658	0.00	2.40	0.00	0.000	6	0.000	0.051	3108	1903	2664
1792	1.27	195.5	82.8	11.8	314	1798	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	1902	2664
1933	1.27	195.5	66.1	11.7	339	1939	0.00	2.45	0.00	0.000	4	0.000	0.057	3108	3315	2664
1979	1.27	195.5	60.6	12.6	347	1985	0.00	2.40	0.00	0.000	6	0.000	0.051	3108	1905	2664
2119	1.27	195.5	44.3	11.4	372	2125	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	1905	2664
2260	1.27	195.5	28.5	10.9	397	2266	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	1905	2664
2333	1.27	195.5	20.6	10.4	410	2339	0.00	2.42	0.00	0.000	4	0.000	0.063	3108	3309	2664
2356	1.27	195.5	18.0	11.4	414	2362	0.00	2.38	0.00	0.000	6	0.000	0.050	3108	1911	2664
2430	1.27	195.5	9.7	10.8	427	2436	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	1911	2665
2485	end climb: SURFACE_DEPTH_REACHED
state	2485	begin surface coast
2526	end surface coast: CONTROL_FINISHED_OK
state	2526	begin surface